TD-40-52

Product Introduction

TD-40-52 robot arm joint motor is the smaller robot servo motors among the robot joint motor market.The robot joint actuators equipped with ultra-thin harmonic reducer, compact structure, brushless torque motor with the same torque volume to achieve extreme optimization, high-precision multi-turn absolute encoder for, cobot arm, exoskeleton robot, humanoid robot research and development of special core components.

Compact structure- 8 core components

1. Motor back cover
2. Control board
3. Encoder
4. Stator casing
5. Motor rotor
6. Motor stator
7. Harmonic drive
8. Flexspline cover

TD-40-52-PRO-XX joint actuator (without brake)

Reduction ratio	Start-stop peak Torque (N.m)	Max. allowable torque at average load (N.m)	Rated torque at 2000rpm/ (reduction ratio)(Nm)	Output Peak Speed (RPM)	Rated speed (RPM) (With 1/2 rated torque)	Backlash (arcsec)
51	8.3	5.5	4	118	80	40
101	11	8.9	6.5	59	40	30
Motor power (W)	Supply voltage (V)	Max. continuous current(A)	Rated current (A)	Resistance(Ω)	Encoder Resolution (Bit)	Communication bus
90	24-48	3	2	1.96	17	CAN
Torque constant(N.m/A)	Inductance(mH)	Number of pole-pairs	Through hole(mm)	Length(mm)	Weight(kg)	Inertia(g * cm²)
0.05	0.788	7	12	60.9±0.5	0.3	82

TD-40-52-PRO-XX joint actuator (with brake)

Reduction ratio	Start-stop peak Torque (N.m)	Max. allowable torque at average load (N.m)	Rated torque at 2000rpm/ (reduction ratio)(Nm)	Output Peak Speed (RPM)	Rated speed (RPM) (With 1/2 rated torque)	Backlash (arcsec)
51	8.3	5.5	4	118	80	40
101	11	8.9	6.5	59	40	30
Motor power (W)	Supply voltage (V)	Max. continuous current(A)	Rated current (A)	Resistance(Ω)	Encoder Resolution (Bit)	Communication bus
90	24-48	3	2	1.96	17	CAN
Torque constant(N.m/A)	Inductance(mH)	Number of pole-pairs	Through hole(mm)	Length(mm)	Weight(kg)	Inertia(g * cm²)
0.05	0.788	7	12	80.4±0.5	0.38	127

Advantages Application

Robot dag

Humanoid robot upper limbs

Miniature robotic arm

Pan and tilt systems

Hollow TD series joint actuators quick selection table

Photo	Model	Ratio	Start-stop peak Torque (N.m)	Max. allowable torque at average load (N.m)	Rated torque at 2000rpm/ (reduction ratio)(Nm)	Rated speed (RPM) (With 1/2 rated torque)	Outer diamter (mm)	Length （mm）	Weight （Kg）	Hole (mm)
	TD-30-40-PRO-XX	51/101	3.3/4.8	2.3/3.3	1.8/2.4	90/45	40	60	0.19	6
	TD-40-52-PRO-XX	51/101	8.3/11	5.5/8.9	3.5/5	80/40	52	62	0.32	12
	TD-50-60-PRO-XX	51/81/101	23/29/34	8.6/13.5/13.5	6.6/9.6/9.6	75/46/37	60	63	0.45	12
	TD-50-70-PRO-XX	51/81/101	23/29/34	8.6/13.5/13.5	6.6/9.6/9.6	75/46/37	70	63	0.66	12
	TD-60-70-PRO-XX	51/81/101/121	42/53/66/66	32/33/49/49	19.8/27.5/30/30	68/43/34/24	70	72.5	0.73	18
	TD-60-80-PRO-XX	51/81/101/121	42/53/66/66	32/33/49/49	19.8/27.5/30/30	68/43/34/24	80	72.5	1.03	18
	TD-70-80-PRO-XX	51/81/101/121	63/91/102/108	42/58/61/61	32/42/50/50	61/38/30/25	80	73	0.90	18
	TD-70-90-PRO-XX	51/81/101/121	63/91/102/108	42/58/61/61	32/42/50/50	61/38/30/25	90	73.5	1.27	18
	TD-80-97-PRO-XX	51/81/101/121/161	121/169/194/207/217	68.5/107/133/133/133	48/78/84/84/84	54/35/27/23/17	97	85.5	1.50	27
	TD-80-110-PRO-XX	51/81/101/121/161	121/169/194/207/217	68.5/107/133/133/133	48/78/84/84/84	54/35/27/23/17	110	85.5	2.06	27
	TD-100-120-PRO-XX	51/81/101/121/161	267/376/411/436/459	133/206/267/267/267	94/146/169/169/169	44/29/22/18/12	120	100.5	2.52	32
	TD-100-142-PRO-XX	51/81/101/121/161	267/376/411/436/459	133/206/267/267/267	94/146/169/169/169	44/29/22/18/12	142	100.5	3.96	32
	TD-110-170-PRO-XX	51/81/101/121/161	497/641/702/762/800	242/351/460/557/557	169/255/328/363/363	22/15/12/10/7	170	121.7	6.84	40

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TD-40-52

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